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WO2002070343A2 - Paramoteur telecommande - Google Patents

Paramoteur telecommande Download PDF

Info

Publication number
WO2002070343A2
WO2002070343A2 PCT/US2002/000780 US0200780W WO02070343A2 WO 2002070343 A2 WO2002070343 A2 WO 2002070343A2 US 0200780 W US0200780 W US 0200780W WO 02070343 A2 WO02070343 A2 WO 02070343A2
Authority
WO
WIPO (PCT)
Prior art keywords
control
aircraft
parafoil
foil
air
Prior art date
Application number
PCT/US2002/000780
Other languages
English (en)
Other versions
WO2002070343A3 (fr
Inventor
Tony Talbert
John Mark Kulo
Original Assignee
Remote Aerial Services, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Remote Aerial Services, Inc. filed Critical Remote Aerial Services, Inc.
Priority to AU2002311748A priority Critical patent/AU2002311748A1/en
Publication of WO2002070343A2 publication Critical patent/WO2002070343A2/fr
Publication of WO2002070343A3 publication Critical patent/WO2002070343A3/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/24—Transmitting means
    • B64C13/38—Transmitting means with power amplification
    • B64C13/50—Transmitting means with power amplification using electrical energy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C31/00—Aircraft intended to be sustained without power plant; Powered hang-glider-type aircraft; Microlight-type aircraft
    • B64C31/028—Hang-glider-type aircraft; Microlight-type aircraft
    • B64C31/036—Hang-glider-type aircraft; Microlight-type aircraft having parachute-type wing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/50—Glider-type UAVs, e.g. with parachute, parasail or kite
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/10—Wings
    • B64U30/12—Variable or detachable wings, e.g. wings with adjustable sweep
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/11—Propulsion using internal combustion piston engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/13—Propulsion using external fans or propellers
    • B64U50/14—Propulsion using external fans or propellers ducted or shrouded
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • This invention relates to a televised remote-control aircraft having a propelled body suspended with lines from an air-expandable wing for un-manned agricultural spraying, dusting or analysis, military observation, photography, police surveillance, sports watching, demographic studies, industrial analysis, fire fighting and other uses with idealized speed, close control, high load capacity and ease of operation conveniently and reliably at low cost without licensing.
  • Remote-controlled aircraft are known and now proliferating for various surveillance and conveyance uses. None are known, however, to have televised remote operational control of a propelled body suspended with lines from an air- expandable wing having suspension-line control of aerodynamics for operational modes and on-board equipment control in a manner taught by this invention.
  • Objects of patentable novelty and utility taught by this invention are to provide a remote-control powered parafoil aircraft which: has flight control remotely with a multi-axis joystick or similar control; has remotely televised operational control of onboard equipment selectively; can takeoff and land in short distances from ground-like surfaces and from vehicles or even other aircraft during flight; has a high load capacity per size, weight, cost and operating range; can operate at variably controllable low speeds; is highly maneuverable; can be produced in a wide range of sizes, operating ranges and load capacities; is easy to learn; does not require licensing to operate; is inexpensive; can be fitted with a wide variety of use equipment; and can be used for a wide variety of applications that include agricultural spraying, agricultural dusting, agricultural-crop analysis, animal herding, police surveillance, photography, sports surveillance, population studies, advertising, mapping, surveying, border patrol, mineral and oil prospecting, search and rescue, and military surveillance.
  • This invention accomplishes these objectives with a remote-control powered parafoil aircraft having an aircraft body that is engine powered and hung with lines from an air-expandable wing.
  • the lines include control lines with which air flow and aerodynamic shape of the air-expandable wing are variable selectively from a foil controller on the aircraft body for flight-mode control. Sight from a television camera on the aircraft body is televised to a control unit from which control data is transmitted selectively from proximate the control unit to the foil controller with a multi-axis joystick or similar control, to an engine on the aircraft body from an engine controller and to equipment controls on the aircraft body from an equipment controller.
  • FIG. 1 is a front elevation view of a remote-control powered parafoil aircraft having a propeller thruster on an aircraft body suspended by lines from a parafoil wing that is ram-air inflated and is remotely controlled from a remote- control unit for dispensing crop-protection substance from a tank;
  • FIG. 2 is a side view of the FIG. 1 illustration;
  • FIG. 3 is a front elevation view of a remote-control powered parafoil aircraft having a propeller thruster on an aircraft body suspended by lines from a parafoil wing that is compressed-air inflated and is remotely controlled from a remote-control unit for dispensing crop-protection substance from a tank;
  • FIG. 4 is a side view of the FIG. 3 illustration
  • FIG. 5 is a front view of a shrouded propeller thruster in relationship to an apposed-piston engine for powering the aircraft body;
  • FIG. 6 is a top view of the FIG. 5 shrouded propeller thruster in pushing relationship to a tricycle landing gear of the aircraft body on which an engine has an optional streamlined front cowling;
  • FIG. 7 is a front view of a shrouded fan thruster in relationship to an apposed-piston engine for powering the aircraft body;
  • FIG. 8 is a top view of the FIG. 7 shrouded fan thruster in pushing relationship to the tricycle landing gear of the aircraft body on which the engine has an optional streamlined cowling front;
  • FIG. 9 is a diagram of the remote-control powered parafoil aircraft having optionally non-interference communication between a remote-control unit and an aircraft body operating a selection of operational items from an airborne platform with remote control.
  • Foil controller 37 Pointed nacelle
  • Second line reel 40 Base rim
  • an aircraft body 1 is hung with lines 2 from an air- expandable wing that can include a parafoil 3 having ram entrances 4 to one or more ram-air compartments 5 for receiving ram air for expanding the parafoil 3 air-expandable wing.
  • a currently popular parafoil 3 with a plurality of ram-air compartments 5 is popular justifiably not only as a result of its high lift-to-area ratio, but also because of its reliable ram-air inflation when used.
  • Ram air can resist forward movement, whether used for wings or for engines, and, therefore, can increase propulsion-power requirements for forward travel if overused or not utilized effectively. Resistance to forward travel that increases propulsion power is meritorious for carrying people or things downwardly because conversely, it deters and thereby slows forward movement advantageously for softness of landing. For this invention, however, economy of sustained forward travel is also critical.
  • An air-expandable wing therefore, is intended to include air expansion that is effective and efficient for forward travel in addition to high lift and soft landing. Detail drawings of either are not included.
  • the aircraft body 1 is engine-powered with an engine 6 coupled to a thruster that can include a propeller 7.
  • the engine 6 can be whatever shaft-power engine is found to be most efficient and effective for a particular thruster at speeds and altitudes intended.
  • Vision of ground area selectively from the aircraft body 1 for desired remote guidance is provided by a televison camera 8 on the aircraft body 1.
  • a control unit 9 is provided for remote control of the parafoil aircraft and equipment thereon selectively.
  • control communication 10 intermediate a control transceiver 11 on the control unit 9 and a craft transceiver 12 on the aircraft body 1.
  • television communication intermediate the television camera 8 and a television screen 13 which can be a picture-in-picture screen proximate the control unit 9.
  • a foil controller 14 that is preferably a joystick on the control unit 9, is in control communication through the control transceiver 11.
  • the lines 2 include control lines 15 intermediate at least one line reel, preferably a first line reel 16 and a second line reel 17, on the aircraft body 1 and at least one control foil 18 that can include a first control foil 19 and a second control foil 20 on the air- expandable wing which can include the parafoil 3.
  • the first line reel 16 is in foil-control communication from the foil controller 14 to a first reel servo 21 and the second line reel 17 is in foil-control communication from the foil controller 14 to a second reel servo 22.
  • an engine servo 23 proximate the engine 6 on the aircraft body 1 is in engine-control communication by an engine controller 24 on the control unit 9.
  • At least one operational item, represented by a tank 25 with outlets 26 from a discharge conduit 27, on the aircraft body is controlled by an item controller 28, represented by a plurality of optional item controllers 28 on the control unit 9.
  • An item servo 29 proximate the operational item on the aircraft body 1 is in control communication intermediate the control unit 9 and the item through its item servo 29.
  • the control communication 10 includes television communication, foil- control communication, engine-control communication and at least one item- control communication.
  • the air-expandable wing can include a pumped-air wing 30 that has at least one pumped-air compartment 31 for containing pumped air.
  • the pumped-air compartment 31 can extend from a leading edge 32 to proximate the control foils 18 or 19 and 20.
  • the pumped-air compartment 31 can be extended to only a short distance from the leading edge 32, leaving a lift arc thereafter.
  • Pressure of the pumped air need not be greater than one-to-five psi above ambient air pressure.
  • an inexpensive, high-volume, low-pressure pump can be run with the engine 6 or, with some four-stroke engines, the engine exhaust can be used for inflation.
  • variations of the pumped-air wing 30 can be made to provide considerable advantages of low propulsion costs, potentially greater carrying capacity, lower speed if desired for some uses, higher speed if desired and constructed aerodynamically for large areas.
  • Emergency or quick-use forms of the pumped-air wing 30 can be cannister-filled if desired. Also, air could be hosed to the pumped-air wing 30 from a pump on the aircraft body 1 as needed while in flight.
  • one or more peripheral compartments 33 can be provided for battery, starter, fuel and peripheral requirements for the engine 6 and for operational items.
  • a tricycle landing gear with wheels 34 on a rod frame 35 is shown, different shapes and forms of the aircraft body 1 are foreseeable.
  • a propeller 7 can have a propeller duct 36 either attached to ends of blades for rotation or held steady on framework at ends of the blades for decreasing lateral thrust in proportion to linear thrust.
  • the engine 6 can have a pointed nacelle 37 to house a starter.
  • the thruster can include a turbine-like fan 38 having a series of fan blades 39 extended radially outward from a base rim 40 that is coupled to an output shaft 41 of the engine 6. Also, the turbine-like fan 38 can include an outside rim 42 that is duct-like proximate outside ends of the fan blades 39. Optimum thruster selection depends largely on availability of quality of construction and on features of available engines. For some uses, the turbine-like fan 38 would be best, provided it can be produced at sufficiently low cost.
  • a control transceiver 11 on the remote-control unit 9 has control communication 10 that preferably includes a non-interference communication system 46 with a craft transceiver 12 on the aircraft body 1.
  • the non-interference communication system 46 relays control data from the joystick foil controller 14, from the engine controller 24 and from item controller 28 to the craft transceiver 12.
  • the craft transceiver 12 relays the control data to the first reel servo 21 for the first line reel 16, to the second reel servo 22 for the second line reel 17, to the engine servo 23 for the starter 43 and the throttle 44 and to the item servo 29 for optional items 45 as programmed.
  • Communication can be two-way feed back for any and all servos.
  • the television camera 8 sends live video vision from the aircraft body 1 to the television screen 13 proximate the remote-control unit 9.
  • the control communication 10 and the non-interference communication system 46 include the television communication, foil-control communication, engine-control communication and at least one item-control communication.
  • control options may be used to govern the operation of the invention, including manual remote control, remote control with optional in-flight autopilot assistance and fully autonomous flight from an optional on-board computer with mission update or override capability from remote-control unit.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Toys (AREA)

Abstract

L'invention concerne un paramoteur télécommandé possédant une carlingue (1) équipée d'un moteur, pendue à l'aide de suspentes (2) à une aile se déployant sous l'influence de l'air (3, 20). Les suspentes comprennent des câbles de commande (15) grâce auxquels l'écoulement d'air et la forme aérodynamique de l'aile gonflante peuvent être variés sélectivement à partir d'une unité de commande de profil hydrodynamique (18, 19, 20) placée sur la carlingue afin de commander le mode de vol. La vue prise par une caméra de télévision (8) disposée sur la carlingue est retransmise vers une unité de commande (9) à partir de laquelle des données de commande sont émises sélectivement à partir d'une unité proche de l'unité de commande vers l'unité de commande de profil hydrodynamique (14) au moyen d'un manche à balai multiaxes ou d'un système de commande analogue, vers un moteur (6) monté sur la carlingue du paramoteur à partir d'une unité de commande de moteur (24), et vers un servomoteur (29) servant à commander différents systèmes optionnels (45) disposés dans la carlingue.
PCT/US2002/000780 2001-01-11 2002-01-11 Paramoteur telecommande WO2002070343A2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2002311748A AU2002311748A1 (en) 2001-01-11 2002-01-11 Remote control powered parafoil aircraft

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US26168201P 2001-01-11 2001-01-11
US60/261,682 2001-01-11

Publications (2)

Publication Number Publication Date
WO2002070343A2 true WO2002070343A2 (fr) 2002-09-12
WO2002070343A3 WO2002070343A3 (fr) 2003-04-03

Family

ID=22994387

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2002/000780 WO2002070343A2 (fr) 2001-01-11 2002-01-11 Paramoteur telecommande

Country Status (3)

Country Link
US (1) US20020193914A1 (fr)
AU (1) AU2002311748A1 (fr)
WO (1) WO2002070343A2 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010049647A1 (fr) * 2008-10-30 2010-05-06 Flying Robots Procede de decollage automatique d'un aeronef a voilure souple, voile, et aeronef
US7831363B2 (en) * 2006-06-29 2010-11-09 Oshkosh Corporation Wireless control system for a load handling vehicle
CN102910288A (zh) * 2012-10-31 2013-02-06 襄阳宏伟航空器有限责任公司 多用途柔性冲压翼伞无人机
CN105292472A (zh) * 2014-07-28 2016-02-03 中国科学院沈阳自动化研究所 多用途软翼无人机

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WO2004101357A2 (fr) 2002-08-30 2004-11-25 Qaxu Technology Inc. Aeroglisseur volant homeostatique
US7302316B2 (en) * 2004-09-14 2007-11-27 Brigham Young University Programmable autopilot system for autonomous flight of unmanned aerial vehicles
US7467762B1 (en) * 2005-08-08 2008-12-23 John Charles Parsons Advanced unmanned aerial vehicle system
FR2942613A1 (fr) * 2009-03-02 2010-09-03 Flying Robots Procede de transport pendulaire aerien securise par un aeronef teleporteur
US9682620B2 (en) 2013-09-06 2017-06-20 Paragrine Systems, Llc Air-ground vehicle with integrated fuel tank frame
US20190009626A1 (en) * 2013-09-06 2019-01-10 Paragrine Systems, Llc Vehicle with automatically deployable airfoil parachute
US9656526B2 (en) * 2013-09-06 2017-05-23 Paragrine Systems, Llc Ground vehicle with flight capability
US10728767B2 (en) 2015-04-14 2020-07-28 ETAK Systems, LLC Systems and methods for augmented reality add-in of equipment and structures at a telecommunications site
US10534499B2 (en) 2015-04-14 2020-01-14 ETAK Systems, LLC Cell site audit and survey via photo stitching
US9654984B2 (en) 2015-04-14 2017-05-16 ETAK Systems, LLC Cell tower installation systems and methods with unmanned aerial vehicles
US10187806B2 (en) 2015-04-14 2019-01-22 ETAK Systems, LLC Systems and methods for obtaining accurate 3D modeling data using multiple cameras
US10475239B1 (en) * 2015-04-14 2019-11-12 ETAK Systems, LLC Systems and methods for obtaining accurate 3D modeling data with a multiple camera apparatus
US10334164B2 (en) 2015-04-14 2019-06-25 ETAK Systems, LLC Virtual 360-degree view of a telecommunications site
US12200326B2 (en) 2015-04-14 2025-01-14 ETAK Systems, LLC 360 degree camera apparatus with monitoring sensors
US10382975B2 (en) 2015-04-14 2019-08-13 ETAK Systems, LLC Subterranean 3D modeling at cell sites
US9988140B2 (en) 2015-04-14 2018-06-05 ETAK Systems, LLC Counterbalancing unmanned aerial vehicles during operations associated with cell towers
US10397802B2 (en) 2015-04-14 2019-08-27 ETAK Systems, LLC Detecting changes at cell sites and surrounding areas using unmanned aerial vehicles
US10192354B2 (en) 2015-04-14 2019-01-29 ETAK Systems, LLC Systems and methods for obtaining accurate 3D modeling data using UAVS for cell sites
US9947135B2 (en) 2015-04-14 2018-04-17 ETAK Systems, LLC Close-out audit systems and methods for cell site installation and maintenance
US10395434B2 (en) 2015-04-14 2019-08-27 ETAK Systems, LLC Annotated 3D models of telecommunication sites for planning, engineering, and installation
US11797723B2 (en) 2015-04-14 2023-10-24 ETAK Systems, LLC Systems and methods for coordinating initiation, preparing, vetting, scheduling, constructing, and implementing a power plant implementation
US12081909B2 (en) 2015-04-14 2024-09-03 ETAK Systems, LLC Monitoring system for a cell tower
US10183761B2 (en) 2015-04-14 2019-01-22 ETAK Systems, LLC 3D modeling of cell sites to detect configuration and site changes
US10959107B2 (en) 2015-04-14 2021-03-23 ETAK Systems, LLC Systems and methods for delivering a close out package for work done at a telecommunications site
US10580199B2 (en) 2015-04-14 2020-03-03 ETAK Systems, LLC Systems and methods for data capture for telecommunications site modeling via a telescoping apparatus
US10311565B2 (en) 2015-04-14 2019-06-04 ETAK Systems, LLC Cell site equipment verification using 3D modeling comparisons
US12219261B2 (en) 2015-04-14 2025-02-04 ETAK Systems, LLC Monitoring system for monitoring multiple locations with 360 degree camera apparatuses
US10384804B2 (en) 2015-04-14 2019-08-20 ETAK Systems, LLC Cell tower installation and maintenance systems and methods using robotic devices
US9596617B2 (en) * 2015-04-14 2017-03-14 ETAK Systems, LLC Unmanned aerial vehicle-based systems and methods associated with cell sites and cell towers
US10255719B2 (en) 2015-04-14 2019-04-09 ETAK Systems, LLC Systems and methods for satellite data capture for telecommunications site modeling
US12030630B2 (en) 2015-04-14 2024-07-09 ETAK Systems, LLC Systems and methods for coordinating initiation, preparing, vetting, scheduling, constructing, and implementing a power plant implementation
US11875463B2 (en) 2015-04-14 2024-01-16 ETAK Systems, LLC 360 degree camera apparatus with augmented reality
US10856153B2 (en) 2015-04-14 2020-12-01 ETAK Systems, LLC Virtual 360-degree view modification of a telecommunications site for planning, engineering, and installation
US10827363B2 (en) 2015-04-14 2020-11-03 ETAK Systems, LLC Systems and methods for performing a passive intermodulation mitigation audit at a wireless site
US12039230B2 (en) 2015-04-14 2024-07-16 ETAK Systems, LLC Systems and methods for coordinating initiation, preparing, vetting, scheduling, constructing, and implementing a power plant implementation
US11790124B2 (en) 2015-04-14 2023-10-17 ETAK Systems, LLC Systems and methods for coordinating initiation, preparing, vetting, scheduling, constructing, and implementing a power plant implementation
US10327151B2 (en) 2015-04-14 2019-06-18 ETAK Systems, LLC Wireless coverage testing systems and methods with unmanned aerial vehicles
US12149832B2 (en) 2015-04-14 2024-11-19 ETAK Systems, LLC 360 degree camera apparatus and monitoring system
US10893419B2 (en) 2015-04-14 2021-01-12 ETAK Systems, LLC Systems and methods for coordinating initiation, preparing, vetting, scheduling, constructing, and implementing a small cell implementation
US9881416B2 (en) 2015-04-14 2018-01-30 ETAK Systems, LLC Obtaining 3D modeling data using UAVs for cell sites
US9704292B2 (en) 2015-04-14 2017-07-11 ETAK Systems, LLC Virtualized site survey systems and methods for cell sites
US10227134B2 (en) 2015-04-14 2019-03-12 ETAK Systems, LLC Using drones to lift personnel up cell towers
US10368249B2 (en) 2015-04-14 2019-07-30 ETAK Systems, LLC Modeling fiber cabling associated with cell sites
US10231133B2 (en) 2015-04-14 2019-03-12 ETAK Systems, LLC 3D modeling of cell sites and cell towers with unmanned aerial vehicles
WO2019168316A1 (fr) * 2018-03-02 2019-09-06 고영욱 Paradrone
US11712637B1 (en) 2018-03-23 2023-08-01 Steven M. Hoffberg Steerable disk or ball
CN108706102A (zh) * 2018-06-20 2018-10-26 周欢东 一种基于电动力滑翔伞的大载荷复杂环境的无人机快递

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7831363B2 (en) * 2006-06-29 2010-11-09 Oshkosh Corporation Wireless control system for a load handling vehicle
WO2010049647A1 (fr) * 2008-10-30 2010-05-06 Flying Robots Procede de decollage automatique d'un aeronef a voilure souple, voile, et aeronef
FR2937948A1 (fr) * 2008-10-30 2010-05-07 Flying Robots Procede de decollage automatique d'un aeronef a voilure souple, voile, et aeronef
US8855838B2 (en) 2008-10-30 2014-10-07 Swissavia Sa Automatic takeoff method for an aircraft with a flexible airfoil, and airfoil and aircraft
EA020525B1 (ru) * 2008-10-30 2014-11-28 Свиссавиа Са Способ автоматического взлёта для летательного аппарата с гибким крылом, парусом и летательный аппарат
CN102910288A (zh) * 2012-10-31 2013-02-06 襄阳宏伟航空器有限责任公司 多用途柔性冲压翼伞无人机
CN105292472A (zh) * 2014-07-28 2016-02-03 中国科学院沈阳自动化研究所 多用途软翼无人机

Also Published As

Publication number Publication date
WO2002070343A3 (fr) 2003-04-03
AU2002311748A1 (en) 2002-09-19
US20020193914A1 (en) 2002-12-19

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